text: /****************************************************************************
   *
   *   Copyright (c) 2015 Mark Charlebois. All rights reserved.
   *
   * Redistribution and use in source and binary forms, with or without
   * modification, are permitted provided that the following conditions
   * are met:
   *
   * 1. Redistributions of source code must retain the above copyright
   *    notice, this list of conditions and the following disclaimer.
   * 2. Redistributions in binary form must reproduce the above copyright
   *    notice, this list of conditions and the following disclaimer in
   *    the documentation and/or other materials provided with the
   *    distribution.
   * 3. Neither the name PX4 nor the names of its contributors may be
   *    used to endorse or promote products derived from this software
   *    without specific prior written permission.
   *
   * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
   * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
   * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   * POSSIBILITY OF SUCH DAMAGE.
   *
   ****************************************************************************/
  
  /**
   * @file px4_linux_impl.cpp
   *
   * PX4 Middleware Wrapper Linux Implementation
   */
  
  #include <px4_defines.h>
  #include <px4_tasks.h>
  #include <px4_middleware.h>
  #include <px4_workqueue.h>
  #include <dataman/dataman.h>
  #include <stdint.h>
  #include <stdio.h>
  #include <signal.h>
  #include <errno.h>
  #include <unistd.h>
  #include <semaphore.h>
  #include "systemlib/param/param.h"
  #include "hrt_work.h"
  #include "px4_log.h"
  
  
  //extern pthread_t _shell_task_id;
  
  
  __BEGIN_DECLS
  extern uint64_t get_ticks_per_us();
  
  //long PX4_TICKS_PER_SEC = 1000L;
  
  unsigned int sleep(unsigned int sec)
  {
  	for (unsigned int i = 0; i < sec; i++) {
  		usleep(1000000);
  	}
  
  	return 0;
  }
  
  extern void hrt_init(void);
  
  #if 0
  void qurt_log(const char *fmt, ...)
  {
  	va_list	args;
  	va_start(args, fmt);
  	printf(fmt, args);
  	printf("n");
  }
  #endif
  
  //extern int _posix_init(void);
  
  __END_DECLS
  
  extern struct wqueue_s gwork[NWORKERS];
  
  
  namespace px4
  {
  
  void init_once(void);
  
  void init_once(void)
  {
  	// Required for QuRT
  	//_posix_init();
  	PX4_WARN("Before calling work_queue_init");
  
  //	_shell_task_id = pthread_self();
  //	PX4_INFO("Shell id is %lu", _shell_task_id);
  
  	work_queues_init();
  	PX4_WARN("Before calling hrt_init");
  	hrt_work_queue_init();
  	hrt_init();
  	PX4_WARN("after calling hrt_init");
  }
  
  void init(int argc, char *argv[], const char *app_name)
  {
  	PX4_DEBUG("App name: %s\n", app_name);
  }
  
  }
  
  /** Retrieve from the data manager store */
  ssize_t
  dm_read(
  	dm_item_t item,                 /* The item type to retrieve */
  	unsigned char index,            /* The index of the item */
  	void *buffer,                   /* Pointer to caller data buffer */
  	size_t buflen                   /* Length in bytes of data to retrieve */
  )
  {
  	return 0;
  }
  
  /** write to the data manager store */
  ssize_t
  dm_write(
  	dm_item_t  item,                /* The item type to store */
  	unsigned char index,            /* The index of the item */
  	dm_persitence_t persistence,    /* The persistence level of this item */
  	const void *buffer,             /* Pointer to caller data buffer */
  	size_t buflen                   /* Length in bytes of data to retrieve */
  )
  {
  	return 0;
  }
  
  size_t strnlen(const char *s, size_t maxlen)
  {
  	size_t i = 0;
  
  	while (s[i] != '\0' && i < maxlen) {
  		++i;
  	}
  
  	return i;
  }
  
  int ioctl(int a, int b, unsigned long c)
  {
  	return -1;
  }
  
  int write(int a, char const *b, int c)
  {
  	return -1;
  }
  